Interactive Behaviors for Bipedal Articulated Figures

We describe techniques for interactively controlling bipedal articulated figures through kinematic constraints. These constraints model certain behavioral tendencies which capture some of the characteristics of human-like movement, and give us control over such elements as the figures' balance and stability. They operate in near real-time, so provide behavioral control for interactive manipulation. These constraints form the basis of an interactive motion-generation system that allows the active movement elements to be layered on top of the passive behavioral constraints.